中文摘要：

轮-地摩擦因数是对车辆控制尤其是车辆主动安全控制系统非常重要的一个量，但现有的方法却很难对其准确地测量．在介绍Brash轮胎模型的基础上，针对轮胎侧偏特性做了不同载荷下的单轮台架试验，验证了轮胎模型的准确性．在深入分析电动助力转向系统（EPS）动力学特性的基础上，利用EPS自带传感器测量了转向系总的回正力矩，并推导出了最大回正力矩与轮-地摩擦因数间的线性关系．通过提出3个假设，理论推导了利用现有传感器判断回正力矩峰值时刻的方法并进一步提出了轮-地摩擦因数的最大回正力矩估计算法（MAMM）．通过多种工况下的仿真计算和试验分析发现该估计方法适用于各种不同路面且具有很高的估计精度．

英文摘要：

The tire-road friction coefficient is difficult to detect, while it is important for vehicle control systems, especially for vehicle active safety systems. A Brush tire model was introduced, and the lateral characteristics were verified by experimental results of a single wheel test bench. Based on the analysis of dynamic characteristics of an electric power steering （EPS） system, the total aligning moment of the steering system was measured by the sensors equipped with EPS. The linear relation between maximum total aligning moment and tire-road friction coefficient was derived. A theoretical approach for detecting the peak value of total aligning moment was proposed based on three assumptions. A maximum aligning moment method （MAMM） was designed for the estimation of tire-road friction coefficient. The numerical and the experimental results show that the proposed algorithm can be applied for various roads with satisfactory accuracy.